Design and evaluation of a hierarchical control architecture for an autonomous underwater vehicle

This paper researches on a kind of control architecture for autonomous undelwater vehicle （AUV）. After describing the hybrid property of the AUV control system, we present the hierarchical AUV control architecture. The architecture is organized in three layers： mission layer, task layer and execution layer. State supervisor and task coordinator are two key modules handling discrete events, so we describe these two modules in detail. Finally, we carried out a series of tests to verify this architecture The test results show that the AUV can perform autonomous missions effectively and safely. We can conclude the control architecture is valid and practical.

S^2 BHCA-Multiple AUVs cooperation oriented control architecture

Oceanographic survey, or other similar applications should be the applications of multiple AUVs. In this paper, the skill & simulation based hybrid control architecture (S2BHCA) as the controller's design reference was proposed. It is a multi-robot cooperation oriented intelligent control architecture based on hybrid ideas. The S2 BHCA attempts to incorporate the virtues of the reactive controller and of the deliberative controller by introducing the concept of the "skill". The additional online task simulation ability for cooperation is supported, too. As an application, a multiple AUV control system was developed with three "skills" for the MCM mission including two different cooperative tasks. The simulation and the sea trials show that simple task expression, fast reaction and better cooperation support can be achieved by realizing the AUV controller based on the S2 BHCA.

Resource Control Architecture in Heterogeneous Networks

TISPAN,from a fixed access perspective,proposes Resource and Admission Control Subsystem[0](RACS) as a solution to Quality of Service(QoS) problem for NGN bearer network.In contrast,3GPP has an approach to this from the perspective of mobile access.In the latest 3GPP R7 draft,integration of Policy Control Function(PCF) with Flow Based Charging(FBC) function of the R6 brought forward policy control and charging.With the development of fixed mobile convergence,the inconsistence in architectures and interfaces of different resource and admission control[0] solutions will have a huge impact on manufacture and network implementation of NGN related equipment.To solve this problem,both 3GPP and TISPAN have been working on the convergence of Gq’/Rx reference points.Harmonized Policy Control and Charging(PCC) proposed by the Next Generation Mobile Network(NGMN) forum,i.e.cooperative resource control architecture for heterogeneous networks,represents an evolutional sign post for resource control technology for heterogeneous network architecture.

Adaptive active inceptor design under shared control architecture for nonlinear pilot-induced oscillations

This paper presents a Shared Control Architecture(SCA)between a human pilot and a smart inceptor for nonlinear Pilot Induced Oscillations(PIOs),e.g.,category II or III PIOs.One innovation of this paper is that an intelligent shared control architecture is developed based on the intelligent active inceptor technique,i.e.,Smart Adaptive Flight Effective Cue(SAFE-Cue).A deep reinforcement learning approach namely Deep Deterministic Policy Gradient(DDPG)method is chosen to design a gain adaptation mechanism for the SAFE-Cue module.By doing this,the gains of the SAFE-Cue will be intelligently tuned once nonlinear PIOs triggered;meanwhile,the human pilot will receive a force cue from the SAFE-Cue,and will consequently adapting his/her control policy.The second innovation of this paper is that the reward function of the DDPG based gain adaptation approach is constructed according to flying qualities.Under the premise of considering failure situation,task completion qualities and pilot workload are also taken into account.Finally,the proposed approach is validated using numerical simulation experiments with two types of scenarios:lower actuator rate limits and airframe damages.The Inceptor Peak Power-Phase(IPPP)metric is adopted to analyze the human-vehicle system simulation results.Results and analysis show that the DDPG based sharing control approach can well address nonlinear PIO problems consisting of Categories Ⅱ and Ⅲ PIO events.

Architecture Design for Internet-Based Control Systems

The Internet is playing an important role in information retrieval, and additionally industrial process manipulation. This paper describes an approach to writing requirements specifications for Internet-based control systems, from which architectures can be derived. The requirements specifications developed are described in terms of a functional model, which is then extended to form an information architecture. Distinct from the functional model, the information architecture provides an indication as to the architectural structure of subsequently developed Internet-based control systems. Three general control structures are generated from the analysis of an information architecture. An integrated-distributed architecture is derived as an ideal implementation, in which a control system is linked to the Internet at all levels of a control system hierarchy.

Linux-based Platform for Open Architecture Controller and Its Modular Developing Method

Linux-based Platform for Open Architecture Controller ( POAC ), a new open architecture controller and its modular developing method are discussed. POAC divides the application software of controller into the developing system and the application system. In the developing system, PAOC abstracts a series of function modules with unified data interface and function interface. In the application system, POAC defines the model of the architecture module, realizing the interoperability and interchangeability between the architecture modules. The modular developing method entities the users to make up an application system with some architecture modules, which consist of a set of function modules. The modular developing method decreases the developing time from the standard of controller architecture to the product.

Open Architecture of Single-processor Real-time Robot Control System Based on Windows NT

This paper introduces the architecture and implementation of an industrial robot control system based on Windows NT. This robot control system, which is based on a single-processor structure, can run on general industrial computers. Owing to using Windows NT's real-time extension RTX, the control system can achieve good realtime performance and friendly user interface in one general-purpose operating system. A three layer hierarchical architecture of control software is proposed to make the system more scalable and flexible. Furthermore a communication and configuration system is implemented to enable modules to communicate with each other, which make the control system scalable and flexible.

Tufting Carpet Machine Information Model Based on Object Linking and Embedding for Process Control Unified Architecture

In view of the lack of research on the information model of tufting carpet machine in China,an information modeling method based on Object Linking and Embedding for Process Control Unified Architecture(OPC UA)framework was proposed to solve the problem of“information island”caused by the differentiated data interface between heterogeneous equipment and system in tufting carpet machine workshop.This paper established an information model of tufting carpet machine based on analyzing the system architecture,workshop equipment composition and information flow of the workshop,combined with the OPC UA information modeling specification.Subsequently,the OPC UA protocol is used to instantiate and map the information model,and the OPC UA server is developed.Finally,the practicability of tufting carpet machine information model under the OPC UA framework and the feasibility of realizing the information interconnection of heterogeneous devices in the tufting carpet machine digital workshop are verified.On this basis,the cloud and remote access to the underlying device data are realized.The application of this information model and information integration scheme in actual production explores and practices the application of OPC UA technology in the digital workshop of tufting carpet machine.

Distribution Patterns of Remaining Hydrocarbons Controlled by Reservoir Architecture of Distributary Channel with Different Channel Style: S2 Formation of Songliao Basin, China

1 Introduction Reservoir architecture analysis of distributary channel of Daqing oilfield has drawn consistent interest among development geologists and petroleum engineers over the last decade(Lv et al.,1999;Zhou et al.,2008;Zhang et

Analysis Markov Delay Control Strategy for Smart Home Systems

with the development of science and technology, smart home systems require better, faster to meet the needs of human. In order to achieve this goal, the human-machine-items all need to interact each other with understand, efficient and speedy. Cps could unify combination with the human-machine-items; realize the interaction between the physical nformation and the cyber world. However, information interaction and the control task needs to be completed in a valid time. Therefore, the transform delay control strategy becomes more and more important. This paper analysis Markov delay control strategy for smart home systems, which might help the system decrease the transmission delay.

Development of a PC-based Open Architecture Software-CNC System

As a key te..hnology in the field of advanced manufacturing, an open architecture controller is studied. In order to develop an open architecture software-CNC system on personal computer （PC） according to open modular architecture controllers （OMAC）. First, the software and hardware platform is chosen and software realization methodology for the CNC system is determined. Second, static modeling methods of an open architecture controller inclusive of object-oriented （OO） programming technology, dynamic link library （DLL） technology and system modules partition are investigated. Third, the dynamical behavioral modeling and the data flow representation of open architecture controller are discussed, which are both described in hierarchy fmite state machine （FSM） model. Fourth, a reusable software module model is established to develop software function module library. Finally, a 3-axis milling machine tool test-bed, named for HIT-CNC, is successfully designed by means of the constructed software function module library and the system configuring method. The experimental results show that, besides increasing the degree of reusability and openness, application of above-mentioned method- ology leads to significant decrease of development time as well as maintenance cost.

Design of motion control of dam safety inspection underwater vehicle

Plenty of dams in China are in danger while there are few effective methods for underwater dam inspections of hidden problems such as conduits,cracks and inanitions.The dam safety inspection remotely operated vehicle(DSIROV) is designed to solve these problems which can be equipped with many advanced sensors such as acoustical,optical and electrical sensors for underwater dam inspection.A least-square parameter estimation method is utilized to estimate the hydrodynamic coefficients of DSIROV,and a four degree-of-freedom(DOF) simulation system is constructed.The architecture of DSIROV's motion control system is introduced,which includes hardware and software structures.The hardware based on PC104 BUS,uses AMD ELAN520 as the controller's embedded CPU and all control modules work in VxWorks real-time operating system.Information flow of the motion system of DSIROV,automatic control of dam scanning and dead-reckoning algorithm for navigation are also discussed.The reliability of DSIROV's control system can be verified and the control system can fulfill the motion control mission because embankment checking can be demonstrated by the lake trials.

OPEN ARCHITECTURE CNC SYSTEM HITCNC AND KEY TECHNOLOGY

Aiming at the characteristics of modularity and reconfigurable in open architecture computer numerical control （CNC） system, the open architecture CNC system, Harbin Institute of Tech- nology computer numerical control （HITCNC）, is researched and manufactured based on the interface standards. The system＇s external interfaces are coincident with the corresponding international standards, and the internal interfaces follow the open modular architecture controller （OMAC） agreement. In the research and manufacturing process, object-oriented technology is used to ensure the openness of the HITCNC, and static programming is applied in the CNC system according to the idea of modularization disassembly. The HITCNC also actualizes real-time and unreal-time modules adopting real-time dynamical linked library （RTDLL） and component object model （COM）. Finite state ma- chine （FSM） is adopted to do dynamically modeling of HITCNC. The complete separation between the software and the hardware is achieved in the HITCNC by applying the SoftSERCANS technique. The application of the above key techniques decreases the programming workload greatly, and uses software programs replacing hardware functions, which offers plenty technique ensures for the openness of HITCNC. Finally, based on the HITCNC, a three-dimensional milling system is established. On the system, series experiments are done to validate the expandability and interchangeability of HITCNC. The results of the experiments show that the established open architecture CNC system HITCNC is correct and feasible, and has good openness.

Dynamic Frontier-Led Swarming:Multi-Robot Repeated Coverage in Dynamic Environments

A common assumption of coverage path planning research is a static environment.Such environments require only a single visit to each area to achieve coverage.However,some real-world environments are characterised by the presence of unexpected,dynamic obstacles.They require areas to be revisited periodically to maintain an accurate coverage map,as well as reactive obstacle avoidance.This paper proposes a novel swarmbased control algorithm for multi-robot exploration and repeated coverage in environments with unknown,dynamic obstacles.The algorithm combines two elements:frontier-led swarming for driving exploration by a group of robots,and pheromone-based stigmergy for controlling repeated coverage while avoiding obstacles.We tested the performance of our approach on heterogeneous and homogeneous groups of mobile robots in different environments.We measure both repeated coverage performance and obstacle avoidance ability.Through a series of comparison experiments,we demonstrate that our proposed strategy has superior performance to recently presented multi-robot repeated coverage methodologies.

Molten salt assisted self-activated carbon with controllable architecture for aqueous supercapacitor

Activated carbons have been widely employed as electrode materials of aqueous supercapacitors but the use of hazardous and corrosive activating agents challenges conventional activation procedures.Here,using a unique molten salt assisted self-activation technique,we have devised an eco-friendly and simple method to synthesize oxygen-rich hierarchical porous carbon with controllable architecture.Mixture of sodium carboxymethylcellulose and NaCl was pyrolyzed in one step,creating in-situ produced Na_(2)CO_(3)-NaCl molten salt that carried out the activation work.Na2 CO3 acts as the activating agent in the reaction media of NaCl during the self-activation process.The obtained carbon exhibited a remarkable specific capacitance of 278 F g^(−1) at 0.5 A g^(−1) and retained 76%capacitance at 50 A g^(−1) in a three-electrode cell.The fabricated aqueous coin cell achieved 81%capacitance retention at 50 A g^(−1) and the highest specific energy density of 12.8 Wh kg^(−1) at 214.6 W kg^(−1),which are superior compared to the commercial activated carbon(64%at 50 A g^(−1) and 8.4 Wh kg^(−1) at 194.8 W kg^(−1)).Moreover,capacitance fading was not observed after 10000 cycles at 5 A g^(−1).Considering the species diversity and low cost of self-salt polymers on the market,this strategy will expect to become a scalable approach for synthesizing high-performance capacitive carbons.

Multi-sensor systems and information processing of mobile robot in uncertain environments

The PBJ- 01 robot is a kind of mobile robot featuring six wheels and two swing arms which can help it to fit many terrains. The robot has a sophisticated sensor system, which includes ultrasonic sensors, tentacle sensors and a vision sensor. The PBJ- 01 adopts behavior-based reactive control architecture in which the key part is an object recognition system based on a fuzzy neural network. Simulation validates that this system can conclude the obstacle type from the sensor data, and help the robot decide whether to negotiate or to avoid obstacles.

Network Meets ChatGPT:Intent Autonomous Management,Control and Operation

Telecommunication has undergone significant transformations due to the continuous advancements in internet technology,mobile devices,competitive pricing,and changing customer preferences.Specifically,the most recent iteration of OpenAI’s large language model chat generative pre-trained transformer(ChatGPT)has the potential to propel innovation and bolster operational performance in the telecommunications sector.Nowadays,the exploration of network resource management,control,and operation is still in the initial stage.In this paper,we propose a novel network artificial intelligence architecture named language model for network traffic(NetLM),a large language model based on a transformer designed to understand sequence structures in the network packet data and capture their underlying dynamics.The continual convergence of knowledge space and artificial intelligence(AI)technologies constitutes the core of intelligent network management and control.Multi-modal representation learning is used to unify the multi-modal information of network indicator data,traffic data,and text data into the same feature space.Furthermore,a NetLM-based control policy generation framework is proposed to refine intent incrementally through different abstraction levels.Finally,some potential cases are provided that NetLM can benefit the telecom industry.

Power Electronics for PV-Based Communal Grids

In this paper power electronics used in PV power generation systems have been reviewed and modelled. PV systems need converters for maximum power point tracking, power conditioning, voltage step-up/down as necessary, and for storage charge-controlling. Inverters are needed for AC loads and for utility grid interfacing. The four basic DC-DC converters commonly used with PV systems have been reviewed and modelled. Different DC-AC inverter types and operational architectures have also been reviewed with the two-stage DC-AC inverter, with the point of common coupling (PCC) at the inverter input, suggested as the most cost-effective and efficient architecture for PV-based communal grids. This is because only one inverter is used for the entire system as opposed to an inverter for every module string, resulting in higher efficiencies, low cost, and low harmonic distortions when compared to systems with PCC at AC terminal. The aim of power conversion/inversion is to extract maximum power possible from the PV system and where necessary, to invert it at close to 100% as possible. Highlight: 1) DC-DC converters are necessary for power conditioning in PV systems;2) DC-AC inverters are necessary for AC loads and for utility grid interfacing;3) DC-AC inverters are also used to control the PV systems when grid connected;4) Best inverter configuration cost-effectively and efficiently allows easy system modifications.

Three-dimensional visualization interactive system for digital twin workshop

To improve the human-physical-virtual coordination and integration of the digital twin workshop,3D visual monitoring and human-computer interaction of the digital twin workshop was studied.First,a novel 6D model of the 3D visualization interactive system for digital twin workshops is proposed.As the traditional 5D digital twin model ignores the importance of human-computer interaction,a new dimension of the user terminal was added.A hierarchical real-time data-driven mapping model for the workshop production process is then proposed.Moreover,a real-time data acquisition method for the industrial Internet of things is proposed based on OPC UA(object linking and embedding for process control unified architecture).Based on the 6D model of the system,the process of creating a 3D visualization virtual environment based on virtual reality is introduced,in addition to a data-driven process based on the data management cloud platform.Finally,the 6D model of the system was confirmed using the blade rotor test workshop as the object,and a 3D visualization interactive system is developed.The results show that the system is more transparent,real-time,data-driven and more efficient,as well as promotes the coordination and integration of human-physical-virtual,which has practical significance for developing digital twin workshops.

Fine Mapping and Analysis of DWARF TILLER1 in Controlling Rice Architecture

Rice is one of the most consumed staple food plants around the world, and its plant architecture is very important to improve the grain yield （Zhang et al., 2008）. Plant height, leaf angle, tiller number and angle, and uniformity of panicle layer all can have strong effects on grain yield （Wang and Li, 2008）. During the long history of domestication, rice has been selected to develop uniform tiller height architecture that ensures panicle layer uniformity and ease of harvesting （Ma et al., 2009）, and is largely determined by the synchronic culm elongation.